When approaching green lights and a car is approaching their red at speed - approach at a moderate speed and make a judgment call.
Ditto entering a roundabout.
Don't step out onto a crossing in front of moving traffic, claim priority and wait for the cars to stop
What is moderate speed?
How do you know that the car waiting at the roundabout isn't suddenly going to pull out just when you get there? You don't - so how's any sort of judgement call going to help? It certainly won't stop you going into the side of the car, will it?
Your judgement call is about assessing risks. How high a risk is too high? If you see a car approach that roundabout at 60, you know there's a very high risk of collision, so you slow or stop. But there's also the risk that the motorist will stop, then pull out just as you pass his entrance to the roundabout. From experience, you know that doesn't very often, so your judgement call would be to proceed, yes? The important point is, your judgement excludes low probability incidents, exactly because they have a low probability of happening. Yet, occasionally, they do - and it is impossible to foresee them all. It is impossible to adapt your behaviour to reduce the consequences of all possible incidents. Which means that the rational response is to adapt your behaviour to counter the most likely incidents.
Yes, we can certainly say that the cyclist could have done things differently. It's easy to be wise after the event. Filtering on the outside, as the motorcyclist did, would most likely have meant that the collision wouldn't have taken place. But note that filtering on the outside increases the probability of a collision with a car pulling out of that side road! And of course the presence of the cycle lane discourages offside filtering. It must also to be pointed that, since this is a busy cycle lane, the presence of cyclists in that position was something that readily could -
and should - have been anticipated by the motorist.